def predict_and_update_pseudorange_rate(self, meas, t, kind):
R = np.zeros((len(meas), 1, 1))
z = np.zeros((len(meas), 1))
sat_pos_vel = np.zeros((len(meas), 6))
for i, m in enumerate(meas):
z_i, R_i, sat_pos_vel_i = parse_prr(m)
sat_pos_vel[i] = sat_pos_vel_i
R[i, :, :] = R_i
z[i, :] = z_i
return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_vel)
def maha_test_pseudorange_rate(self, x, P, meas, kind, maha_thresh=.999):
bools = []
for m in meas:
z, R, sat_pos_vel = parse_prr(m)
bools.append(
self.filter.maha_test(x,
P,
kind,
z,
R,
extra_args=sat_pos_vel,
maha_thresh=maha_thresh))
return np.array(bools)